U.S. patent number 8,801,752 [Application Number 12/511,614] was granted by the patent office on 2014-08-12 for articulating surgical device.
This patent grant is currently assigned to Covidien LP. The grantee listed for this patent is Amos Cruz, Steve Evans, Richard Fortier, Gene A. Stellon, Andrew Ziegler. Invention is credited to Amos Cruz, Steve Evans, Richard Fortier, Gene A. Stellon, Andrew Ziegler.
United States Patent |
8,801,752 |
Fortier , et al. |
August 12, 2014 |
Articulating surgical device
Abstract
A surgical device for performing surgery generally includes a
handle assembly, an elongate member extending from the handle
assembly, an articulation mechanism operatively associated with the
handle assembly, and an end effector. The elongate member has an
articulating section and straight section. The articulating section
is configured to articulate with respect to the straight section.
The articulation mechanism is operatively associated with the
handle assembly and the articulating section such that the
articulating section articulates toward a first direction relative
to the straight section upon movement of the handle assembly
towards the first direction with respect to the straight section.
The end effector is operatively coupled to the articulating section
of the elongate member and includes first and second jaw members.
The surgical device further includes a locking mechanism configured
for fixing a relative position of first and second jaw members.
Inventors: |
Fortier; Richard (Concord,
MA), Ziegler; Andrew (Arlington, MA), Cruz; Amos
(Wrentham, MA), Stellon; Gene A. (Burlington, CT), Evans;
Steve (Westford, MA) |
Applicant: |
Name |
City |
State |
Country |
Type |
Fortier; Richard
Ziegler; Andrew
Cruz; Amos
Stellon; Gene A.
Evans; Steve |
Concord
Arlington
Wrentham
Burlington
Westford |
MA
MA
MA
CT
MA |
US
US
US
US
US |
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|
Assignee: |
Covidien LP (Mansfield,
MA)
|
Family
ID: |
41338597 |
Appl.
No.: |
12/511,614 |
Filed: |
July 29, 2009 |
Prior Publication Data
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Document
Identifier |
Publication Date |
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US 20100030018 A1 |
Feb 4, 2010 |
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Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
Issue Date |
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61085997 |
Aug 4, 2008 |
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Current U.S.
Class: |
606/205 |
Current CPC
Class: |
A61B
17/29 (20130101); A61B 18/1445 (20130101); A61B
17/2909 (20130101); A61B 2017/2929 (20130101); A61B
2018/1432 (20130101); A61B 2018/1422 (20130101); A61B
2017/2925 (20130101); A61B 2017/2945 (20130101); A61B
2017/2905 (20130101); A61B 2017/2837 (20130101); A61B
2017/2946 (20130101); A61B 2017/291 (20130101); A61B
2017/2936 (20130101); A61B 2017/003 (20130101) |
Current International
Class: |
A61B
17/00 (20060101) |
Field of
Search: |
;606/205-208,1,170,174,180 ;451/344-359 ;81/177.75,177.85
;600/141-147 |
References Cited
[Referenced By]
U.S. Patent Documents
Foreign Patent Documents
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0095970 |
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Dec 1983 |
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EP |
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0448284 |
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EP |
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0626604 |
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EP |
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0427949 |
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Jun 1994 |
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EP |
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1 813 203 |
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Aug 2007 |
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EP |
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EP |
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Apr 2008 |
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EP |
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2 044 890 |
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Apr 2009 |
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EP |
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2143920 |
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Feb 1985 |
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GB |
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WO 90/05491 |
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May 1990 |
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WO |
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WO 92/01414 |
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Feb 1992 |
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WO |
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WO 94/17965 |
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Aug 1994 |
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WO |
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WO 94/22377 |
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Oct 1994 |
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WO |
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WO 02/34147 |
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May 2002 |
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WO |
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WO 2006113216 |
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Oct 2006 |
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WO |
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WO 2007/002545 |
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Jan 2007 |
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WO |
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WO 2008/042423 |
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Apr 2008 |
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WO |
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Other References
Eureopean Search Report for EP 08 252797.9-2319 date of completion
is Nov. 7, 2008 (6 pages). cited by applicant .
Hiromasa Yamashita et al., "Multi-Slider Linkage Mechanism for
Endoscopic Forceps Manipulator," In Proc. of the 2003 IEEE/RSJ,
Intl. Conference on Intelligent Robots and Systems, vol. 3, pp.
2577-2582, Las Vegas, Nevada, Oct. 2003. cited by applicant .
European Search Report for EP 11 25 0257 dated Jun. 15, 2011. cited
by applicant .
European Search Report for Appln. No. 09251932.1-2310 dated Dec.
23, 2009, 3 pages. cited by applicant.
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Primary Examiner: Erezo; Darwin
Assistant Examiner: Shipley; Amy
Parent Case Text
CROSS-REFERENCE TO RELATED APPLICATION
The present disclosure claims priority to, and the benefit of, U.S.
Provisional Patent Application No. 61/085,997, filed on Aug. 4,
2008, the entire contents of which are hereby incorporated by
reference.
Claims
What is claimed is:
1. A surgical device for performing surgery, comprising: a handle
assembly including a cup portion; an elongate member extending from
the handle assembly, the elongate member having an articulating
section and a straight section, wherein the articulating section is
configured to articulate with respect to the straight section; an
articulation mechanism operatively associated with the handle
assembly and the articulating section such that the articulating
section articulates toward a first direction relative to the
straight section upon movement of the handle assembly towards the
first direction with respect to the straight section, the
articulation mechanism including: an articulation cable plate
disposed at least partially within the cup portion, the
articulation cable plate coupled with the articulating section of
the elongate member; and an articulation lock ring disposed within
the cup portion of the handle assembly, the articulation lock ring
having a plurality of circumferentially arranged fingers, the
articulation cable plate movable between a locked position in which
the plurality of fingers engage an inner surface of the cup portion
to lock position of the handle assembly with respect to the
elongate member and an unlocked position in which the plurality of
fingers disengage from the inner surface of the cup portion,
whereby the handle assembly is movable with respect to the elongate
member; an end effector operatively coupled to the articulating
section of the elongate member, the end effector having first and
second jaw members, wherein the first and second jaw members are
configured to move relative to each other between an open position
and an approximated position; and a locking mechanism configured
for fixing a relative position of first and second jaw members, the
locking mechanism including a first ratchet assembly and a second
ratchet assembly positioned within the handle assembly, the first
and second ratchet assemblies being moveable relative to each other
between an engaged position to lock the relative position of the
first and second jaw members and a disengaged position to unlock
the relative position of the first and second jaw members.
2. The surgical device of claim 1, wherein the articulating section
includes a plurality of articulation links for facilitating
articulation of articulating section relative to the straight
section.
3. The surgical device of claim 2, wherein the articulation
mechanism includes a plurality of articulation cables passing
through the articulation links.
4. The surgical device of claim 3, wherein the plurality of
articulation cables operatively connect the articulation cable
plate with the articulating section, the plurality of articulation
cables pulled proximally when the articulation cable plate is in
the locked position.
5. The surgical device of claim 4, wherein the articulation
mechanism further includes an articulation lock trigger operatively
coupled with the articulation cable plate, the articulation lock
trigger is configured to move the articulation cable plate between
the locked position and the unlocked position.
6. The surgical device of claim 4, wherein the articulation cable
plate includes an annular portion and an elongate portion, the
annular portion disposed at least partially within the articulation
lock ring, whereby the annular portion causes outward flexing of
the plurality of fingers when the articulation cable plate is in
the locked position.
7. The surgical device of claim 6, wherein the plurality of
articulation cables are fixed securely to the annular portion of
the articulation cable plate.
8. The surgical device of claim 1, wherein the handle assembly
includes a thumb loop operatively connected to the end effector
such that actuation of the thumb loop causes an actuation of the
end effector.
9. The surgical device of claim 1, wherein the locking mechanism
includes a release assembly configured to disengage the first
ratchet assembly from the second ratchet assembly.
10. The surgical device of claim 9, wherein the locking mechanism
includes a biasing member for biasing the release assembly in a
distal direction.
11. The surgical device of claim 9, wherein the release assembly of
the locking mechanism includes a trigger, the release assembly
being configured to disengage the first ratchet assembly from the
second ratchet assembly upon movement of the trigger in a proximal
direction.
12. The surgical device of claim 1, wherein the second ratchet
assembly is configured to move longitudinally along the handle
assembly.
13. The surgical device of claim 1, wherein the end effector is
configured to transmit electrosurgical energy to tissue.
14. The surgical device of claim 1 further comprising, a rotational
wheel operatively coupled with the end effector, wherein rotation
of the rotational wheel causes concomitant rotation of the end
effector.
15. The surgical device of claim 14, wherein the rotational wheel
is configured to be rotatable independent of the articulation
mechanism.
16. The surgical device of claim 1, wherein the articulation cable
plate is configured to urge the plurality of fingers radially
outward when the articulation cable plate is in the locked
position.
17. The surgical device of claim 1, wherein the fingers are made of
resilient material.
18. A surgical device for performing surgery, comprising: a handle
assembly including a cup portion; an elongate member extending from
the handle assembly, the elongate member having an articulating
section and a substantially stiff section, wherein the articulating
section is configured to articulate with respect to the
substantially stiff section; an articulation mechanism operatively
associated with the handle assembly and the articulating section,
wherein moving the handle assembly in a first direction relative to
the substantially stiff section causes the articulating section to
articulate towards the first direction relative to the
substantially stiff section, the articulation mechanism including:
an articulation cable plate disposed at least partially within the
cup portion, the articulation cable plate coupled with the
articulating section of the elongate member; and an articulation
lock ring disposed within the cup portion of the handle assembly,
the articulation lock ring having a plurality of circumferentially
arranged fingers, the articulation cable plate movable between a
locked position in which the plurality of fingers engage an inner
surface of the cup portion to lock position of the handle assembly
with respect to the elongate member and an unlocked position in
which the plurality of fingers disengage from the inner surface of
the cup portion, whereby the handle assembly is movable with
respect to the elongate member; an end effector operatively coupled
to the articulating section of the elongate member, the end
effector having first and second jaw members, wherein the first and
second jaw members are configured to move relative to each other
between an open position and an approximated position; and a
locking mechanism configured for fixing a relative position of
first and second jaw members, the locking mechanism including a
first ratchet assembly and a second ratchet assembly positioned
within the handle assembly, the first and second ratchet assemblies
being moveable relative to each other between an engaged position
to lock the relative position of the first and second jaw members
and a disengaged position to unlock the relative position of the
first and second jaw members.
19. The surgical device of claim 18, wherein the articulating
section includes a plurality of articulation links for facilitating
articulation of articulating section relative to the substantially
stiff section.
20. The surgical device of claim 19, wherein the articulation
mechanism includes a plurality of articulation cables passing
through the articulation links.
21. The surgical device of claim 18, wherein the handle assembly
includes a thumb loop operatively connected to the end effector
such that actuation of the thumb loop causes an actuation of the
end effector.
22. The surgical device of claim 18, wherein the locking mechanism
includes a release assembly configured to disengage the first
ratchet assembly from the second ratchet assembly.
23. The surgical device of claim 22, wherein the locking mechanism
includes a biasing member for biasing the release assembly in a
distal direction.
24. The surgical device of claim 22, wherein the release assembly
of the locking mechanism includes a trigger, the release assembly
being configured to disengage the first ratchet assembly from the
second ratchet assembly upon movement of the trigger in a proximal
direction.
25. The surgical device of claim 24 wherein the second ratchet
assembly is configured to move longitudinally along the handle
assembly.
26. The surgical device of claim 18, wherein the end effector is
configured to transmit electrosurgical energy to tissue.
27. A surgical device for performing surgery, comprising: a handle
assembly including a cup portion; an elongate member extending from
the handle assembly, the elongate member having an articulating
section and a substantially straight section, the articulating
section configured to articulate with respect to the substantially
straight section; an articulation mechanism operatively associated
with the handle assembly and the articulating section, the
articulation mechanism including: an articulation cable plate
movable at least partially within the cup portion and operable to
effect articulation of the articulating section of the elongate
member; and an articulation lock ring operable with the
articulation cable plate, the articulation cable plate selectively
movable to engage the articulation lock ring which, in turn, causes
the articulation lock ring to engage the cup portion to maintain a
relative position of the articulating section with respect to the
substantially straight section; an end effector operably coupled to
the articulating section of the elongate member, the end effector
having first and second jaw members movable relative to each other
between an open position and an approximated position; and a
locking mechanism configured for fixing a relative position of the
first and second jaw members.
28. The surgical device of claim 27, wherein the articulation lock
ring includes a plurality of radially spaced fingers.
29. The surgical device of claim 28, wherein the plurality of
radially spaced fingers is configured to frictionally engage the
cup portion.
30. The surgical device of claim 27, wherein the handle assembly is
movable with respect to the straight portion.
31. The surgical device of claim 30, wherein the articulation lock
ring is operable to maintain the handle assembly in a position
relative to the substantially straight portion.
32. The surgical device of claim 27, wherein the articulation lock
ring surrounds at least a portion of the articulation lock plate.
Description
BACKGROUND
1. Technical Field
The present disclosure relates to endoscopic surgical devices, and
more particularly, to endoscopic surgical devices capable of
multiple degrees of articulation.
2. Background of the Related Art
Endoscopic surgery is a minimally invasive technique for performing
surgery intracorporeally without requiring a large incision.
Typically, endoscopic surgery is conducted by inserting a number of
ports through small incisions in the patient's skin to access a
surgical site. One of the ports receives an endoscope, which is a
video camera-like device. The surgeon views the surgical site via
the endoscope and performs the surgery by inserting various
surgical devices into the patient through the ports. During
endoscopic surgery, the surgeon may introduce different surgical
devices through the ports. For example, the surgeon may insert a
hand operated endoscopic grasper, a dissector, shears, scissors and
the like. This technique does not require "opening up" the patient,
resulting in less invasive surgery than conventional
procedures.
In an effort to reduce the number of incisions required, single
incisions procedures and related surgical devices have been
developed over the years. For instance, the surgeon may make one
incision and maneuver a surgical device through the patient's body
until it reaches the desired surgical site. However, it is often
challenging to steer a surgical device through the complexities of
the human anatomy. In light of this difficulty, a need exist for
surgical devices capable of multitude degrees of operation and
motion.
SUMMARY
The present disclosure relates to a surgical device capable of
multiple degrees of articulation. This surgical device generally
includes a handle assembly, an elongate member extending from the
handle assembly, an articulation mechanism operatively associated
with the handle assembly, and an end effector. The elongate member
has an articulating section and straight section. The articulating
section is configured to articulate with respect to the straight
section. The articulation mechanism is operatively associated with
the handle assembly and the articulating section such that the
articulating section articulates toward a first direction relative
to the straight section upon movement of the handle assembly
towards the first direction with respect to the straight section.
The end effector is operatively coupled to the articulating section
of the elongate member and includes first and second jaw members.
The first and second jaw members are configured to move relative to
each other between an open position and an approximated position.
The surgical device further includes a locking mechanism configured
for fixing a relative position of first and second jaw members. The
locking mechanism includes a first ratchet assembly and a second
ratchet assembly positioned within the handle assembly. The first
and second ratchet assemblies are moveable relative to each other
between an engaged position to lock the relative position of the
first and second jaw members and a disengaged position to unlock
the relative position of the first and second jaw members.
BRIEF DESCRIPTION OF THE DRAWINGS
Embodiments of the presently disclosed surgical devices are
described herein with reference to the accompanying drawings,
wherein:
FIG. 1 is a rear perspective view of a surgical device according to
an embodiment of the present disclosure;
FIG. 2 is a side elevational view of the surgical device of FIG. 1
with an articulating section in a straight position;
FIG. 3 is a side elevation view of the surgical device of FIG. 1
with the articulating section in an articulated position;
FIG. 4 is a top view of the surgical device of FIG. 1 with the
articulating section in a straight position;
FIG. 5 is a top view of the surgical device of FIG. 1 with the
articulating section in an articulated position;
FIG. 6 is a front perspective view of the surgical device of FIG.
1;
FIG. 7 is a perspective sectional view of an end effector and the
articulating section of the surgical device of FIG. 1, taken around
section 7 of FIG. 1 and showing a sheath covering the articulating
section of the surgical device;
FIG. 8 is a perspective sectional view of the end effector and the
articulating section of the surgical device of FIG. 1, depicting
the articulating section without the sheath shown in FIG. 7;
FIG. 9 is a perspective cutaway view of a handle assembly of the
surgical device of FIG. 1, showing the internal components of the
handle assembly;
FIG. 10A is a perspective exploded view of the surgical device of
FIG. 1;
FIG. 10B is a side view of an alignment tube of the surgical device
of FIG. 1;
FIG. 10C is a front view of the alignment tube shown in FIG.
10B;
FIG. 10D is a front view of a rotation wheel of the surgical device
of FIG. 1;
FIG. 10E is a cross-sectional view of the rotation wheel shown in
FIG. 10D, taken along section line 10E-10E of FIG. 10D;
FIG. 11A is a perspective exploded view of an articulation
mechanism, the end effector, and the articulating section of the
surgical device of FIG. 1;
FIG. 11B is a side view of a torque shaft of the surgical device of
FIG. 1;
FIG. 11C is a side view of a proximal torque tube of the torque
shaft shown in FIG. 11B;
FIG. 11D is a perspective view of a rotation wheel, a distal
tubular member 388, and a proximal torque tube 456 of the surgical
device of FIG. 1;
FIG. 12 is a perspective cross-sectional view of an articulation
cable plate and an articulation lock ring of the articulation
mechanism of FIG. 11A, taken along section line 12-12 of FIG.
11A;
FIG. 13 is a front exploded view of a portion of the articulating
section of the surgical device of FIG. 1;
FIG. 14 is a rear exploded view of a portion of the articulating
section the surgical device of FIG. 1;
FIG. 15 is a perspective view of the articulating section of the
surgical device of FIG. 1, showing articulation cables passing
through articulation links and a distal outer tube of the
articulating section;
FIG. 16 is a rear cross-sectional view of the handle assembly of
FIG. 9, taken along section line 16-16 of FIG. 9;
FIG. 17 is a side cross-sectional view of the surgical device of
FIG. 1;
FIG. 18 is a rear cross-sectional view of the surgical device of
FIG. 1; taken along section line 18-18 of FIG. 17;
FIG. 19 is a rear cross-sectional view of the surgical device of
FIG. 1; taken along section line 19-19 of FIG. 17;
FIG. 20 is a side cross-sectional view of the end effector and the
articulating section of the surgical device of FIG. 1, taken around
section 20 of FIG. 17;
FIG. 21 is a side cross-sectional view of a portion of the handle
assembly of the surgical device of FIG. 1, taken around section 21
of FIG. 17;
FIG. 22 is a rear cross-sectional view of a portion of the handle
assembly of the surgical device of FIG. 1, taken along section line
22-22 of FIG. 21;
FIG. 23 is a perspective view of the end effector and the
articulating section of the surgical device of FIG. 1 during
various stages of rotation along its longitudinal axis;
FIG. 24 is a perspective cutaway view of the handle assembly of the
surgical device of FIG. 1;
FIG. 25 is a perspective view of a portion of the articulation
mechanism of the surgical device of FIG. 1;
FIG. 26 is a side cross-sectional view of articulation mechanism of
the surgical device of FIG. 1, showing a cup moving upwardly
relative to a ball of the handle assembly;
FIG. 27 is a side cross-sectional view of the end effector and the
articulation section of the surgical device of FIG. 1, showing the
articulating section in an articulated position;
FIG. 28 is a side cutaway view of a portion of the articulation
mechanism of the surgical device of FIG. 1, showing an articulation
lock trigger being actuated;
FIG. 29 is a side cross-sectional view of a portion of the
articulation mechanism of the surgical device of FIG. 1, depicting
articulation cables moving proximally in response to an actuation
of the articulation lock trigger shown in FIG. 28;
FIG. 30 is a side cross-sectional view of a portion of the handle
assembly of the surgical device of FIG. 1, showing a movable thumb
loop being actuated;
FIG. 31 is a side cross-sectional view of the end effector and a
portion of the articulating section of the surgical device of FIG.
1, depicting end effector moving an approximated position in
response to an actuation of the movable thumb loop shown in FIG.
30;
FIG. 32 is a perspective view of a surgical device according to
another embodiment of the present disclosure, showing an end
effector including shearing blades;
FIG. 33 is a perspective view of the end effector and a portion of
the articulating section of the surgical device of FIG. 32;
FIG. 34 is a perspective exploded view of the end effector of the
surgical device of FIG. 32;
FIG. 35 is a side cross-sectional view of the articulating section
and the end effector of the surgical device of FIG. 32;
FIG. 36 is a perspective view of a surgical device according to a
further embodiment of the present disclosure, showing an end
effector including grasping forceps;
FIG. 37 is a perspective view of the end effector of the surgical
device of FIG. 36;
FIG. 38 is a perspective exploded view of the end effector of the
surgical device of FIG. 36;
FIG. 39 is a side cross-sectional view of an articulating section
and the end effector of the surgical device of FIG. 36;
FIG. 40 is a perspective view of a locking mechanism for any of the
embodiments of the surgical device shown above;
FIG. 41 is a perspective view of a release assembly of the locking
mechanism of FIG. 40;
FIG. 42 is a side cross-sectional view of the locking mechanism of
FIG. 40 in a locked position;
FIG. 43 is a side cross-sectional view of the locking mechanism of
FIG. 40 in an unlocked position;
FIG. 44 is a perspective view of a surgical device according to
another embodiment of the present disclosure, showing an end
effector having a probe;
FIG. 45 is a perspective view of the end effector and a portion of
an articulating section of the surgical device of FIG. 44;
FIG. 46 is a side cross-sectional view of the end effector and the
articulating section of the surgical device of FIG. 44;
FIG. 47 is a side cutaway view of a handle assembly of the surgical
device of FIG. 44;
FIG. 48 is a side elevational view of the surgical device of FIG.
44, depicting the articulating section in an articulated
position;
FIG. 49 is a top view of the surgical device of FIG. 44, depicting
the articulating section in an articulated position;
FIG. 50 is a side cutaway view of an embodiment of a straightening
mechanism for incorporation in any of the embodiments of the
surgical device discussed above;
FIG. 51 is a front view of the straightening mechanism of FIG.
50;
FIG. 52 is a front view of the straightening mechanism of FIG. 50
with detents for securing an articulation mechanism in a neutral
position;
FIG. 53 is side cutaway view of another embodiment of a
straightening mechanism with a helix spring for incorporation in
any of the embodiments of the surgical device discussed above;
FIG. 54 is a side cross-sectional view of an embodiment of a
straightening mechanism including an elastomeric boot for
incorporation in any of the embodiments of the surgical device
discussed above;
FIG. 55 is a side cross-sectional view of an embodiment of a
straightening mechanism having an elastomeric member for
incorporation in any of the embodiments of the surgical device
discussed above;
FIG. 56 is a side cross-sectional view of an embodiment of a
straightening mechanism having a superelastic member for
incorporation in any of the embodiments of the surgical device
discussed above;
FIG. 57 is side cut-away view of an embodiment of a straightening
mechanism with an elongate ball for incorporation in any of the
embodiments of the surgical device discussed above;
FIG. 58 is side cut-away view of an embodiment of a straightening
mechanism with elastic bands for incorporation in any of the
embodiments of the surgical devices discussed above;
FIG. 59 is a side cross-sectional view of an embodiment of
straightening mechanism with proximally-located springs for
incorporation in any of the embodiments of the surgical device
discussed above;
FIG. 60 is a side cross-sectional view of an embodiment of
straightening mechanism with distally-located springs for
incorporation in any of the embodiments of the surgical device
discussed above; and
FIG. 61 is a side cross-sectional view of an embodiment of a
straightening mechanism with a ring and springs for incorporation
in any of the embodiments of the surgical device discussed
above.
DETAILED DESCRIPTION OF THE EMBODIMENTS
Embodiments of the presently disclosed surgical device are
described in detail with reference to the drawings, in which like
reference numerals designate identical or corresponding elements in
each of the several views. As used herein the term "distal" refers
to that portion of the surgical device, or component thereof,
farther from the user, while the term "proximal" refers to that
portion of the surgical device, or component thereof, closer to the
user.
FIG. 1 illustrates an endoscopic surgical device designated with
reference number 100. Surgical device 100 generally includes a
handle assembly 300 and an endoscopic assembly 200 extending
distally from handle assembly 300. Handle assembly 300 is
configured to move relative to endoscopic assembly 200. Endoscopic
assembly 200 has an elongate configuration and is operatively
associated with handle assembly 300. In some embodiments, handle
assembly 300 can be held and operated with only one hand.
As seen in FIGS. 2-6, endoscopic assembly 200 includes an elongate
outer tube 210 having a proximal end 212 and a distal end 214.
Proximal end 212 of elongate outer tube 210 is secured to handle
assembly 300. In the embodiment shown in FIG. 2, elongate outer
tube 210 has a straight configuration and defines a longitudinal
axis "X" therealong; however, elongate outer tube 210 may have a
curved configuration. In some embodiments, elongate outer tube 210
is made wholly or partly from a substantially rigid or stiff
biocompatible material such as polyetheretherketone (PEEK),
titanium alloy, aluminum alloy, stainless steel, cobalt chromium
alloy, or any combination thereof.
With continued reference to FIGS. 2-6, endoscopic assembly 200
further includes an articulating section 230 supported on distal
end 214 of elongate outer tube 210. Articulating section 230 has a
proximal end 236 and a distal end 238 and is configured to
articulate towards a particular direction with respect to elongate
outer tube 210 upon movement of handle assembly 300 towards the
same direction with respect to elongate outer tube 210.
Elongate outer tube 210 and articulating section 230 are
longitudinally aligned with each other when handle assembly 300 is
positioned in a neutral position, as seen in FIGS. 2 and 4. When
handle assembly 300 is moved relative to elongate outer tube 210
toward one direction, articulating section 230 articulates toward
the same direction. For example, an operator can move handle
assembly 300 upwardly relative to elongate outer tube 210 to
articulate articulating section 230 upwardly relative to elongate
outer tube 210, as depicted in FIG. 3. In addition to this upward
motion, the operator can move handle assembly 300 laterally with
respect to elongate outer tube 210 to articulate articulating
section 230 laterally relative to elongate outer tube 210, as
illustrated in FIG. 5. Although the drawings merely show upward and
lateral movements of articulating section 230, articulating section
230 has multitude of degrees of motion. Irrespective of the
specific degrees of motion, the movement of articulating section
230 relative to elongate outer tube 210 mirrors the motion of
handle assembly 300 with respect to elongate outer tube 210.
With reference to FIGS. 6-8, endoscopic assembly 200 further
includes a tool assembly or end effector 260 operatively coupled to
distal end 238 of articulating section 230. In certain embodiments,
articulating section 230 includes a sheath 270 covering at least a
portion of articulating section 230. Sheath 270 is made (wholly or
partly) of any suitable flexible material. In some embodiments,
sheath 270 is made of a biocompatible polymer. Other embodiments of
surgical device 100 do not include sheath 270. Articulating section
230 additionally includes at least two articulation links 232, 234
configured for pivotable movement relative to each other. However,
articulating section 230 may include more articulation links. In
the depicted embodiment, articulation section 230 includes ten (10)
articulation links 232, 234. It is understood that a greater number
of articulation links 232, 234 provides articulating section 230
with more degrees of articulation. Regardless of the exact number
of articulation links 232, 234, articulation links 232, 234 allows
articulating section 230 to articulate relative to elongate outer
tube 210. In particular, articulating section 230 can move from a
first position longitudinally aligned with elongate outer tube 210
to a myriad of positions that are not longitudinally aligned with
elongate outer tube 210.
As discussed above, articulating section 230 is operatively
associated with end effector 260. Although the drawings show a
specific kind of end effector 260, it is envisioned that surgical
device 100 may include any end effector suitable for engaging
tissue. For example, an embodiment of surgical device 100 includes
the end effector described in U.S. Patent Application Publication
Serial No. 2009/0012520, filed on Sep. 19, 2008, which entire
contents are herein incorporated by reference.
End effector 260 includes a first jaw member 262 and a second jaw
member 264 pivotally coupled to each other. First and second jaw
members 262, 264 are configured to move from a first or open
position to a second or approximated position. In the first
position, first and second jaw members 262, 264 are spaced apart
from each other and can receive tissue between them (see FIGS. 7
and 8). In the second position, first and second jaw members 262,
264 are approximated to each other and can grasp or clamp any
tissue positioned between them (see FIG. 31).
Each of first and second jaw members 262, 264 includes a tissue
engaging surface 266, 268 and a housing 276, 278. Tissue engaging
surfaces 266, 268 each include teeth 272, 274 extending along their
lengths. Teeth 272, 274 aid in grasping tissue located between
first and second jaw members 262, 264 when first and second jaw
members 262, 264 are located in the approximated position.
In some embodiments, tissue engaging surfaces 266, 268 are made of
an electrically conductive material and housings 276, 278 are
formed of an electrical insulating material. As such, tissue
engaging surfaces 266, 268 are adapted to receive electrosurgical
energy and conduct electrosurgical energy to the tissue grasped
between first and second jaw members 262, 264. First and second jaw
members 262, 264 are electrically isolated from each other and form
a bipolar arrangement. This electrical arrangement allows first and
second jaw members 262, 264 to effectively transfer electrical
energy through tissue. In a bipolar arrangement, the electrical
current travels from one tissue engaging surface (266 or 268) to
another tissue engaging surface (266 or 268) through the grasped
tissue to complete the circuit. In an alternate embodiment,
surgical device 100 has a monopolar electrical arrangement. In this
embodiment, end effector 260 transmits electrosurgical energy to
the tissue grasped between first and second jaw members 262, 264
and this electrosurgical energy passes through the patient's body
until it reaches a patient return electrode (not shown) to complete
the circuit. This patient return electrode is electrically coupled
to surgical device 100. The user may control the intensity,
frequency and duration of the electrosurgical energy applied to the
tissue to cauterize, dissect, coagulate, desiccate, seal, and/or
simply reduce or slow bleeding during a medical procedure. The
electrosurgical energy received by first and second jaw members
262, 264 originates from an electrosurgical generator (not shown)
or any other suitable source of electrosurgical energy. In certain
embodiments, surgical device 100 is electrically coupled to an
electrosurgical generator including a high voltage direct current
(HVDC) power supply configured for supplying a DC voltage, an
output filter for smoothing the switching of the HVDC into a DC
level, and a radio frequency (RF) output stage coupled to the HVDC
and configured to convert the DC energy generated by the HVDC into
RF energy. In some embodiments, surgical device 100 is electrically
coupled to the electrosurgical generator described in U.S. Pat. No.
RE40,388, filed on May 8, 2003, the entire contents of which are
hereby incorporated by reference.
With reference to FIGS. 9 and 10, handle assembly 300 is configured
to be electromechanically coupled to an electrosurgical generator
(not shown) and includes a housing 340 for storing, among other
things, at least some parts of an articulation mechanism 330. As
seen in FIG. 10A, housing 340 includes a first half 340a and a
second half 340b configured to attach to one another. In several
embodiments, first and second halves 340a, 340b may be made of a
polymer (or any other suitable material). First and second halves
340a, 340b collectively form a cup 332 for holding a ball 331 of
articulation mechanism 330. Cup 332 is positioned on a distal end
portion 344 (FIG. 9) of handle assembly 300. Handle assembly 300
further includes a movable thumb loop 301 positioned on a proximal
end portion 342 (FIG. 9) thereof. Movable thumb loop 301 is
operatively connected to end effector 260 (FIG. 7) and is
configured to move upwardly and downwardly relative to housing 340.
In various embodiments, movable thumb loop 301 is pivotally secured
to housing 340. Moving movable thumb loop 301 with respect to
housing 340 causes end effector 260 to move between the open
position and the approximated position, as discussed in detail
below. Movable thumb loop 301 defines an aperture 346 dimensioned
to receive a user's finger. Aperture 346 is located in a proximal
end portion 358 of movable thumb loop 301. At least a distal end
portion 360 of movable thumb loop 301 is positioned inside housing
340.
Handle assembly 300 further includes a finger loop 302 defining an
opening 348 dimensioned to receive a user's finger. Finger loop 302
remains stationary relative to housing 340. Finger loop 302
includes a longitudinal cavity 352 (FIG. 10A) for retaining a post
350 adapted to facilitate electromechanical coupling between
surgical device 100 and an electrosurgical generator (not shown).
Post 350 is partially positioned within finger loop 302 and is made
wholly or partly of an electrically conductive material. In one
embodiment, an electrical and thermal insulating sheath (not shown)
wraps a portion of post 350 located outside of finger loop 302.
This insulating sheath protects the user from the electrical
current traveling through post 350 during the operation of surgical
device 100. The portion of post 350 located inside finger loop 302
is electromechanically coupled to an electrical connector 356 made
of an electrically conductive material. Electrical connector 356
extends through finger loop 302 into an inner portion of housing
340. A portion of electrical connector 356 located inside housing
340 is disposed in electromechanical cooperation with an alignment
tube 207 made of an electrically conductive material. Alignment
tube 207 surrounds a portion of an actuation cable 205 (FIG. 10A).
In some embodiments, actuation cable 205 is made of an electrically
conductive material. In these embodiments, an electrical current
traveling through alignment tube 207 can reach actuation cable
205.
A proximal end 250 (FIG. 10A) of actuation cable 205 is operatively
connected to distal end portion 360 of movable thumb loop 301. In
certain embodiments, distal end portion 360 of movable thumb loop
301 defines a longitudinal recess 362 aligned transversely relative
to actuation cable 205. Longitudinal recess 362 is dimensioned to
receive a pin 364. Pin 364 has a hole 366 longitudinally aligned
with actuation cable 205. Longitudinal hole 366 is adapted to
receive proximal end 250 of actuation cable 205. Ferrule 368
surrounds proximal end 250 of inner shaft 205 and retains proximal
end 250 of actuation cable 205 within longitudinal hole 366 of pin
364. Pin 364 in turn connects proximal end 250 of actuation cable
205 to distal end portion 360 of movable thumb loop 301. Alignment
tube 207 is crimped onto the actuation cable 205 distally of pin
364. Thus, ferrule 368 and alignment tube 207 sandwich pin 364,
maintaining the axial relationship between actuation cable 205 and
pin 364. Accordingly, when pin 364 is moved, actuation cable 205
moves as well. However, actuation cable 205 is capable of axial
rotation in relation to the pin 364.
As seen in FIGS. 10B and 10C, alignment tube 207 does not have a
circular external cross shape. Instead, alignment tube 207 has one
or more flat sides. At least one side of alignment tube 207 may
have a round profile. The non-circular external cross section of
alignment tube 207 corresponds to the internal cross section of the
internal passageway 399 extending through proximal elongated
portion 386 (FIGS. 10A, 10D, and 10E) of rotation wheel 303. Thus,
when the rotation wheel 303 is rotated, alignment tube 207 rotates
as well and, because it is crimped to actuation cable 205, the
actuation cable 205 will also rotate.
Movable thumb loop 301 is configured to move relative to housing
340 to actuate end effector 260. In various embodiments, movable
thumb loop 301 can pivot toward and away from finger loop 302. When
an operator moves movable thumb loop 301 toward finger loop 302,
actuation cable 205 translates in a proximal direction. As a result
of this proximal translation, first and second jaw members 262, 264
of end effector 260 move from an open position (FIG. 20) to an
approximated position (FIG. 31). Moving movable thumb loop 301 away
from finger loop 301, on the other hand, urges actuation cable 205
in a distal translation. In response to this distal translation,
first and second jaw members 262, 264 of end effector 260 move from
the approximated position (FIG. 31) to the open position (FIG.
20).
Handle assembly 300 also includes a rotation wheel 303 mounted on
alignment tube 207. Rotation wheel 303 is configured to rotate
relative to housing 340. Some portions of rotation wheel 303 stick
out of housing 340, allowing an operator to reach rotation wheel
303. Other portions of rotation wheel 303 are secured within
housing 340. Housing 340 includes a first inner wall 370 and a
second inner wall 372 spaced apart from each other. First and
second inner walls 370, 372 define a gap 374 (FIG. 10A)
therebetween. Gap 374 is dimensioned to receive at least a portion
of rotation wheel 303 and is disposed in communication with a first
slot 376 (FIG. 10A) of first half 340a and a second slot 378 (FIG.
10A) of second half 340b of housing 340. At least some portions of
rotation wheel 303 exit housing 340 through first and second slots
376, 378, thereby providing access to rotation wheel 303. Each of
first and second inner walls 370, 372 defines a recess 382 and 384
(FIG. 10A) for holding portions of rotation wheel 303.
Specifically, recess 382 of inner wall 370 supports a proximal
elongate portion 386 of rotation wheel 303. Proximal elongate
portion 386 extends proximally from rotation wheel 303 and
surrounds at least a portion of alignment tube 207 (see FIG. 9).
Recess 384 of second inner wall 372 supports a distal tubular
member 388 releasably attached to a distal end of rotation wheel
303.
With reference to FIGS. 11B and 11C, a torque shaft 499 has a
proximal end portion 495 and a distal end portion 497 and, during
operation, transfers rotational torque from rotation wheel 303
(FIG. 11A) to end effector 260 (FIG. 8). The distal end portion 497
of torque shaft 499 is operatively connected to coupling member
222, while the proximal end portion 495 of torque shaft 499 is
coupled rotation wheel 303 (FIG. 21). Torque shaft 499 includes a
proximal torque tube 456, a proximal torque coil 468, a distal
torque tube 492, and a distal torque coil 494. Each component of
torque shaft 499 is connected to one another. In certain
embodiments, all the components comprising torque shaft 499 are
welded together and distal torque coil 494 is welded to coupling
member 222. In some embodiments, proximal torque coil 468 and
distal torque coil 494 are each made of three layers of torque coil
sold by ASAHI INTECC CO., LTD. or equivalents. The different layers
of the torque coil have opposite direction winds so that the coil
can be rotated in either direction without unwinding. As seen in
FIG. 11C, proximal torque tube 456 includes a diamond knurl
patterned section 457 at its proximal end.
Referring to FIG. 11D, rotating rotation wheel 303 causes proximal
torque tube 456 to rotate in the same direction. The torque and
resulting rotation is then transferred through the other elements
of torque shaft 499 to the coupling member 222, thus rotating the
end effector 260 (see FIG. 23). Rotation wheel 303 includes a
plurality of undulations 380 positioned around its periphery and
four distal extension members 381. Undulations 380 are
ergonomically configured to receive a user's fingers and facilitate
rotation of wheel 303 by the user. Proximal torque tube 456 fits
within the four distal extension members 381 with at least a
portion of the diamond knurled pattern section 457 contacting the
inner surfaces of the four distal extending members 381. A distal
tubular member 388 is placed over the four distal extension members
381. Distal tubular member 388 defines a longitudinal opening 390
dimensioned for receiving the four distal extension members 381 and
includes a flange 392 disposed around a distal end thereof.
Longitudinal opening 390 of distal tubular member 388 contacts the
external surfaces of the four distal extension members 381. The
internal diameter of the longitudinal opening 390 is such that,
when distal tubular member 388 is placed over the four extension
members 381 and the proximal torque tube 456, the four extension
members 381 are pressed into the diamond knurled pattern section
457, creating a press fit.
With continued reference to FIGS. 9 and 10, articulation mechanism
330 includes an articulation lock trigger 304 positioned distally
of rotation wheel 303 and configured for locking the position of
articulating section 230 (FIG. 2) relative to elongate outer tube
210. Articulation lock trigger 304 is operatively coupled to an
articulation cable plate 311 and can move relative to housing 340.
In several embodiments, articulation lock trigger 304 can pivot
with respect to housing 340 between a first or unlocked position
and a second or locked position. When an operator moves
articulation lock trigger 304 from the unlocked position toward the
locked position, articulation cable plate 311 moves proximally with
respect to housing 340 to lock the position of articulating section
230 with respect to elongate outer tube 210, as discussed in detail
below. In the depicted embodiment, articulation lock trigger 304
defines a detent recess 398 positioned on a proximal surface
therefore and adapted to receive a detent 394 of articulation cable
plate 311. Detent 394 of articulation cable plate 311 engages
detent recess 398 when articulation lock trigger 304 is located in
the locked position. Articulation lock trigger 304 also include at
least one tab 396 positioned within housing 340. In some
embodiments, articulation lock trigger 304 includes two tabs 396
located on opposite sides of articulation lock trigger 304.
Referring to FIGS. 11 and 12, articulation mechanism 330 includes
an articulation lock ring 400 partially surrounding articulation
lock plate 311. Articulation lock ring 400 defines an opening 404
(FIG. 11A) dimensioned to receive articulation lock plate 311 and
includes a plurality of locking fingers 402 extending proximally
therefrom. Locking fingers 402 are positioned around a periphery of
articulation lock ring 400 and may be (wholly or partly) made of a
resilient material. Articulation lock ring 400 is positioned inside
cup 332 of housing 340 (FIG. 9) and includes two lateral slots 406
(FIG. 11A) disposed in a diametrically opposed relation to each
other. Each lateral slot 406 is adapted to receive an extension
member 408 of ball 331. In some embodiments, ball 331 includes two
extension members 408 disposed in diametrically opposed relation to
each other. Each extension member 408 extends proximally from ball
331. When extension members 408 of ball 331 engage slots 406 of
articulation lock ring 400, ball 331 is precluded, or at least
hindered, from rotating relative to articulation lock ring 400.
Ball 331 further includes snap-fit detents 410, or any other
apparatus, mechanism, or means suitable for facilitating secure
engagement between the ball 331 and articulation lock ring 400.
Snap-fit detents 410 are configured to securely engage engagement
walls 412 located around an inner surface of articulation lock ring
400 and between fingers 402.
As shown in FIG. 11A, articulation lock ring 400 partially
surrounds an articulation cable plate 311. Articulation cable plate
311 has an elongate portion 414 and a cable engaging portion 416.
Elongate portion 414 of articulation cable plate 311 has a proximal
end 418 and a distal end 420 and defines an opening 422 at proximal
end 418 and a bore 424 extending therethrough. Opening 422 leads to
bore 424 and is dimensioned to receive proximal torque tube 456
(FIG. 12). Bore 424 is also dimensioned to receive elongate section
458 of annular hub 310 (FIG. 10A).
With continued reference to FIG. 12, cable engaging portion 416 of
articulation cable plate 311 is coupled to a distal end 420 of
elongate portion 414 and defines an inner cavity 426. In some
embodiments, cable engaging portion 416 has a frusto-conical shape.
Inner cavity 426 is disposed in communication with bore 424.
Additionally, cable engaging portion 416 includes a proximal
section 428 connected to elongate portion 414 and a distal section
430 defining a plurality of channels 432. Channels 432 are
positioned around the perimeter of distal section 430 of cable
engaging portion 416 and each is configured to accommodate an
articulation cable 240 (FIG. 11A) and a ferrule or crimp 242 (FIG.
11A).
Returning to FIG. 12, articulation mechanism 330 includes one or
more articulation cables 240 operatively coupled to articulation
cable plate 311. In the depicted embodiment, four articulation
cables 240 are operatively connected to articulation cable plate
311. A ferrule 242 retains each of the four articulation cables 240
in articulation cable plate 311. Specifically, a ferrule 242 is
positioned in a channel 432 of articulation cable plate 311 which
surrounds and holds a portion of an articulation cable 240, thereby
maintaining articulation cable 240 connected to articulation cable
plate 311.
With reference to FIGS. 13-15, articulation cables 240 are
operatively coupled to articulating section 230 (see also FIG. 20).
Articulating section 230 includes a plurality of articulation links
232, 234 (see also FIG. 11A), a distal outer tube 220, and a
coupling member 222. In certain embodiments, coupling member 22 is
a knuckle coupler. Each articulation link 232, 234 defines at least
one bore 224 adapted to receive an articulation cable 240 (FIG. 15)
and a central opening 226 adapted to receive distal torque tube 492
(FIG. 20). In the depicted embodiment, each articulation link 232,
234 includes four bores 224 located around central opening 226.
Articulation links 232, 234 further include extension members 228
extending distally therefrom and recesses 244 (FIG. 14) for
receiving extension members 228. Recesses 244 are positioned on a
proximal surface 246 of each articulation link 232, 234. Proximal
surfaces 246 of articulation links 232, 234 each have a contoured
profile. The contoured profile of proximal surfaces 246 is
configured to mate with the contoured profile of distal surfaces
248 of articulation links 232, 234. Although proximal surfaces 246
and distal surfaces 248 mate with each other, the contoured profile
of these surfaces 246, 248 provide articulation links 232, 234
certain degree of motion relative to each other. In addition,
articulation links 232, 234, albeit substantially similar, have
different orientations with respect to each other. In some
embodiments, articulation link 232 is oriented about 90 degrees
relative to articulation link 234, as shown in FIG. 13.
With continued reference to FIGS. 13-15, distal outer tube 220 has
a proximal surface 254 contoured to mate with distal surface 248 of
either articulation link 232 or 234 while permitting movement of
the adjacent articulation link 232 or 234 relative to distal outer
tube 220. Recesses 282 are defined on proximal surface 254 and each
is configured to receive an extension member 228 of articulation
links 232, 234. Proximal surface 254 of distal outer tube 220
further defines one or more holes 258 dimensioned to receive
articulation cables 240. In the depicted embodiment, distal outer
tube 220 has four holes 258. It is envisioned, however, that distal
outer tube 22 may have more or fewer holes 258. Moreover, distal
outer tube 220 defines a central opening 256 adapted to receive at
least a portion of coupling member 222 and at least one channel 284
for holding a portion of an articulation cable 240 within distal
outer tube 220. In some embodiments, distal outer tube 220 includes
four channels 284 disposed around an inner surface of distal outer
tube 220. In addition, distal outer tube 220 include two retaining
wall 286 positioned on opposite sides of each channel 284 to retain
an articulation cable 240 in channel 284. (See also FIG. 15).
With continued reference to FIGS. 13-15, coupling member 222
includes two legs 288 defining a space therebetween and a proximal
projection 292. Each leg 288 of coupling member 222 includes a
transverse opening 298 and a longitudinal track 202 disposed along
an inner surface thereof. Proximal projection 292 of coupling
member 222 defines an annular recess 296 adapted to receive a seal
or band 294. In the illustrated embodiment, band or seal 294 has a
substantially C-shaped. Band 294 aids in securing coupling member
222 to distal outer tube 220 when band 294 is placed in recess 296
and proximal projection 292 is positioned inside distal outer tube
220. When projection 292 is placed within distal outer tube 220,
portions of band 294 stick out through circumferential slots 221 of
distal outer tube 220, securing coupling member 222 to distal outer
tube 220. Distal outer tube 220 may have one or more
circumferential slots 221. In the depicted embodiment, distal outer
tube 220 has four circumferential slots 221 positioned around a
periphery thereof.
Referring to FIG. 16, articulation cables 240 are operatively
coupled to articulation lock trigger 304. In some embodiments,
articulation lock trigger 304 includes two tabs 396 located on
opposite sides of articulation lock trigger 304, as discussed
above. Articulation lock trigger 304 can move relative to housing
340 between a locked position and an unlocked position, as
discussed in detail below. When articulation lock trigger 304 is
placed in the locked position, articulation mechanism 330 (FIG. 9)
fixes the position of articulation cables 240, thus precluding, or
at least inhibiting, articulation of articulating section 230
relative to longitudinal axis "X." (See FIG. 2). Conversely, when
articulation lock trigger 304 is placed in the unlocked position
(FIG. 16), articulation mechanism 330 (FIG. 9) allows articulating
section 230 to articulate relative to longitudinal axis "X." (See
FIG. 2). In the unlocked position, tabs 396 of articulation lock
trigger 304 seat on internal ribs 322 of housing 340, thereby
holding articulation lock trigger 304 in the unlocked position.
As seen in FIGS. 17-19, an embodiment of surgical device 100
includes four (4) articulation cables 240.sub.A, 240.sub.B,
240.sub.C, 240.sub.D. Each articulation cable 240.sub.A, 240.sub.B,
240.sub.C, 240.sub.D extends from articulation cable plate 311 to
articulating section 230. While extending through surgical device
100, articulation cables 240.sub.A, 240.sub.B, 240.sub.C, 240.sub.D
change their position 180 degrees (see FIGS. 18 and 19), allowing
articulating section 230 to articulate in the same direction as
handle assembly 300.
With reference to FIG. 20, articulating section 230 is operatively
coupled to end effector 260. Actuation cable 205 extends through
articulating section 230 and is connected to end effector 260. A
distal torque coil 494 surrounds a portion of actuation cable 205
extending through articulating section 230. In one embodiment,
distal torque coil 494 is a SUS304 or SUS316 grade stainless steel
torque coil sold by ASAHI INTECC CO., LTD. Distal end 252 of
actuation cable 205 is operatively coupled to end effector 260. In
some embodiments, a coupling 436 connects distal end 252 of
actuation cable 205 to end effector 260 (see also FIG. 11A).
Coupling 436 defines a transverse hole 438 dimensioned to receive a
pin 440. In these embodiments, pin 440 passes through hole 438 and
cam slots 442, 444 of first and second jaw members 262, 264,
thereby pivotally coupling actuation cable 205 to end effector 260.
First jaw member 262 has a cam slot 444 located at a proximal
portion 265 thereof. Cam slot 444 defines an oblique angle relative
to actuation cable 205. Second jaw member 264 has a cam slot 442
located at a proximal portion thereof 263. Cam slot 442 defines an
angle with respect to actuation cable 205. Pin 440 is slidably
positioned in cam slots 442, 442. As a consequence, first and
second jaw members 262, 264 move between open and approximated
positions upon longitudinal translation of actuation cable 205. As
discussed in detail below, an operator can move first and second
jaw members 262, 264 from the open position to the approximated
position by moving movable thumb loop 301 toward finger loop 302
(see FIG. 17). As movable thumb loop 301 moves toward finger loop
302, actuation cable 205 translates proximally to urge pin 440 in a
proximal direction. When pin 440 is urged proximally, pin 440
slides along cam slots 442, 440, causing first and second jaw
members 262, 264 to move toward each other.
With continued reference to FIG. 20, first and second jaw members
262, 264 are pivotally coupled to each other. In certain
embodiments, a pivot pin 446 pivotally interconnects first and
second jaw members 262, 264. First jaw member 262 defines an
opening 448 (FIG. 11A) dimensioned to receive pivot pin 446. Second
jaw member 264 defines an opening 450 (FIG. 11A) dimensioned to
receive pivot pin 446. As seen in FIGS. 13 and 14, coupling member
222 has a pair of traverse openings 298 configured to receive pivot
pin 446 (FIG. 20). Longitudinal tracks 202 engage pivot pin 446 and
guide the translation of pivot pin 446 during actuation of end
effector 260.
FIG. 20 shows (in phantom) articulation cables 240 secured within
distal outer tube 220 of articulating section 230. Articulation
cables 240 pass through bores 224 (FIG. 13) of articulation links
232, 234 until reaching distal outer tube 220. In some embodiments,
a ferrule or crimp 452 is attached to the distal end 454 of each
articulation cable 240. (See also FIGS. 11 and 15). Ferrules 452
(shown in phantom) help retain distal ends 454 of articulation
cables 240 within distal outer tube 220. As discussed above, distal
outer tube 220 is operatively coupled with an articulation link
234. Articulation links 232, 234 are operatively coupled to each
other. Such connection allows articulating section 230 to
articulate relative to longitudinal axis "X" (FIG. 2). It is
envisioned that the degrees of motion of articulating section 230
is directly proportional to the number of articulation links 232,
234. Articulating section 230 includes a most-proximal link 496.
Most-proximal articulation link 496 is substantially similar to
articulation links 232, 234. However, most-proximal articulation
link 496 includes an extension 498 protruding proximally. Extension
498 is adapted to be securely received within distal end 214 of
endoscopy assembly 200.
Referring to FIG. 21, actuation cable 205 is operatively connected
to movable thumb loop 301. Alignment tube 207 surrounds a portion
of actuation cable 205 extending from movable thumb loop 301 to
rotation wheel 303. Handle assembly 300 further includes a proximal
torque tube 456 surrounding a portion of actuation cable 205
extending from rotation wheel 303 to articulation cable plate 311
(see also FIG. 11A). Proximal torque tube 456 is partially
positioned within an annular hub 310. Annular hub 310 is partially
positioned inside articulation cable plate 311 and includes an
elongate section 458 and a cable holding section 460. Elongate
section 458 of annular hub 310 is at least partially positioned
within elongate portion 414 of articulation cable plate 311 and
defines a bore 462 dimensioned to receive actuation cable 205 and
proximal torque tube 456. Cable holding section 460 includes a
plurality of recesses 464 (FIG. 11A) configured to accommodate
articulation cables 240 and an cavity 466 leading to bore 462 of
elongate section 458. Another proximal torque coil 468 is partially
positioned in cavity 466 and surrounds a portion of actuation cable
205 extending from elongate section 458 to cable holding portion
460 of annular hub 310 (see also FIG. 11A). In certain embodiments,
proximal torque coil 468 is made of a flexible material. In several
embodiments, proximal torque coil 468 is (wholly or partly) made of
a shape-memory material such Nickel Titanium Alloy. In some
embodiments, proximal torque coil 468 is made (wholly or partly) of
a stainless steel torque coil sold by ASAHI INTECC CO., LTD. Cable
holding section 460 further includes an elastic wall 476 covering
cavity 466. Elastic wall 476 has a slit 478 (FIG. 11A) that allows
passage of proximal torque coil 468 through elastic wall 476.
Articulation lock ring 400 encircles at least a portion of annular
hub 310. As discussed above, articulation lock ring 400 includes a
plurality of locking fingers 402. Each locking finger 402 includes
a detent 470 for engaging an inner surface 472 of cup 332. As
explained below, inner surface 472 of cup 332 defines a plurality
of cavities 474 (FIG. 26) each adapted to retain a detent 470. When
detents 474 are placed in cavities 474, end effector 260 (FIG. 11A)
is maintained in the neutral position.
In an alternate embodiment, rotating wheel 303 in a first direction
causes actuation cable 205 to rotate in the same direction, as
indicated by arrows "A". Upon rotation of actuation cable 205 in
the first direction, end effector 260 rotates in the same
direction, as indicated by arrows "B." For example, a clockwise
rotation of rotation wheel 303 with respect to housing 340 causes
end effector 260 to rotation in a clockwise direction as well.
With reference to FIGS. 24 and 25, articulation cables 240 are
connected to articulation cable plate 311 through ferrules 242.
Ferrules 242 are positioned in channels 432 (FIG. 25) of
articulation cable plate 311. As a result, articulation cables 240
extend distally from channels 432 of articulation cable plate 311.
Channels 432 are aligned with openings 480 (FIG. 25) defined around
the perimeter of cable holding section 460. Each opening 480 leads
to a recess 464 (FIG. 25) of cable holding section 460.
Accordingly, each articulation cable 240 passes through a channel
432, an opening 480, and a recess 464. In certain embodiments,
recesses 464 have a triangular profile. Articulation cables 240
also pass through ball 331 and endoscopic assembly 200, as shown in
FIG. 24.
With continued reference to FIG. 24, ball 331 includes a distal
tube 482 extending distally therefrom. Distal tube 482 defines a
bore 484 dimensioned to receive a portion of elongate outer tube
210 and a portion of an elongate inner tube 486 of endoscopic
assembly 200. Elongate outer tube 210 defines a bore 488 (FIG. 11A)
configured to receive elongate inner tube 486. In turn, elongate
inner tube 486 defines a bore 490 adapted to receive actuation
cable 205, articulation cables 240, and a distal torque tube 492.
Distal torque tube 492 surrounds a portion of actuation cable 205
extending from ball 331 to distal end 214 of endoscopic assembly
200 (see FIG. 20).
Referring to FIGS. 26 and 27, surgical device 100 allows an
operator to articulate articulating section 230 relative to
longitudinal axis "X" (FIG. 2) with only one hand. In use, the
operator grabs handle assembly 300 with one hand. For example, the
operator may place the thumb in movable thumb loop 301 (FIG. 9) and
some of the other fingers in finger loop 302 (FIG. 9). Once the
operator has grabbed handle assembly 300, the operator moves the
wrist to articulate handle assembly 300 relative to elongate outer
tube 210 and ball 331. The operator may articulate handle assembly
in any direction. FIG. 26, for example, shows handle assembly 300
articulated upwardly with respect to the elongate outer tube 210
(see also FIG. 3). Handle assembly 300, however, may be articulated
downwardly or laterally, as shown in FIG. 5. Regardless of the
articulation direction, articulating handle assembly 300 with
respect to elongate outer tube 210 causes the articulation of
articulating section 230, as seen in FIGS. 3 and 5. Articulating
section 230 mirrors the movement of handle assembly 300 and
articulates relative to elongate outer tube 210 in the same
direction as handle assembly 300.
For instance, when the operator articulates handle assembly 300
upwardly with respect to elongate outer tube 210, one articulation
cable 240.sub.D moves proximally while another articulation cable
240.sub.C moves distally. As a results, articulation cable
240.sub.D tightens, while articulation cable 240.sub.C slacks. In
particular, articulation cable plate 311 moves along with handle
assembly 300 upon articulation of handle assembly 300 while ball
331 remains stationary relative to elongate outer tube 210. Since
articulation cable plate 311 is attached to articulation cables
240, moving articulation cable plate 311 causes articulation cables
240 to move. When articulation cable plate 311 is slanted upwardly
relative to ball 331, an articulation cable 240.sub.C move
distally, while articulation cable 240.sub.D moves proximally, as
depicted in FIG. 26.
As seen in FIG. 27, the combination of a proximal motion by one
articulation cable 240.sub.D and the distal motion by articulation
cable 240.sub.C causes articulating section 230 to articulate
upwardly relative to longitudinal axis "X" (FIG. 2). As explained
above, articulation cables 240.sub.C, 240.sub.D change positions
along elongate outer tube 210. (See FIGS. 18 and 19). Although
articulation cable 240.sub.C is positioned above articulation cable
240.sub.D at the proximal end 212 (FIG. 2) of elongate outer tube
210, articulation cables 240.sub.C, 240.sub.D switch positions at
some point along elongate outer tube 210. As a result, articulation
cable 240.sub.C is positioned below articulation cable 240D at the
distal end 214 (FIG. 2) of elongate outer tube 210 and in
articulating section 230 (FIG. 27). Therefore, a distal translation
of articulation cable 240.sub.C allows articulation cable 240.sub.C
to slack, thereby loosening a lower portion of articulating section
230. Conversely, a proximal translation of articulation cable
240.sub.D causes tightening on articulation cable 240.sub.D,
compressing an upper portion articulating section 230. As a result
of the compression of an upper portion of articulating section 230,
articulating section 230 articulates upwardly relative to
longitudinal axis "X" (FIG. 2). The operator may similarly
articulate articulating section 230 downwardly or laterally by
moving handle assembly 300 with respect to longitudinal axis "X"
(FIG. 2). Upon movement of handle assembly 300 with respect to
longitudinal axis "X," articulating section 230 articulates in the
same direction as handle assembly 300.
Referring to FIGS. 28 and 29, the operator can fix the position of
articulating section 230 by actuating articulation lock trigger
304. To actuate articulation lock trigger 304, the operator moves
articulation lock trigger 304 toward rotation wheel 303, as shown
in FIG. 28. Upon actuation of articulation lock trigger 304, detent
recess 398 engages detent 394 of articulation cable plate 311,
urging articulation cable plate 311 in a proximal direction. As
articulation cable plate 311 moves proximally, cable engaging
portion 416 of pushes fingers 402 of articulation lock ring 400
outwardly toward inner surface 472 of cup 332. When fingers 402
flex outwardly, detents 470 of fingers 402 frictionally engage
inner surface 472 of cup 322, thereby locking the position of
handle assembly 300 with respect to elongate outer tube 210 and
ball 331. In addition, the proximal translation of articulation
cable plate 311 causes all articulation cables 240 to move
proximally. As a consequence of this proximal motion, all
articulation cables 240 are tightened, compressing articulation
links 232, 234 together. Therefore, the compressed articulation
links 232, 234 fix the position of articulating section 230 (FIG.
27) relative to elongate outer tube 210.
With reference to FIGS. 30 and 31, the operator can move first and
second jaw members 262, 264 between an open position (FIG. 27) and
an approximated position (FIG. 31) by actuation of movable thumb
loop 301. To actuate end effector 260, the operator moves movable
thumb loop 301 toward finger loop 302, as shown in FIG. 30. Since
distal end portion 360 of movable thumb loop 301 is operatively
connected to actuation cable 205, the actuation of movable thumb
loop 301 causes the proximal translation of actuation cable 205. As
actuation cable 205 moves proximally, coupling member 436, which
interconnects end effector 260 and actuation cable 205, urges pin
440 proximally. The proximal motion of pin 440 along cam slots 442,
444 urges first and second jaw members 262, 264 toward each other.
An operator may initial place tissue between first and second jaw
members 262, 264 while end effector 260 is in the open position and
then move first and second jaw members 262, 264 to the approximated
position to clamp the tissue.
FIGS. 32 and 33 show an embodiment of surgical device 100
substantially similar to the embodiments depicted in FIGS. 1-4,
except for end effector 1260. End effector 1260 includes first and
second shearing blades 1262, 1264 configured to mechanically or
electromechanically cut tissue. First and second shearing blades
1262, 1264 are electrically isolated from one another and are
adapted to move between an open position and an approximated
position.
With reference to FIGS. 34 and 35, although coupling member 222
connects articulating section 230 to end effector 1260, end
effector 1260 additionally includes a clevis coupler 1500. Clevis
coupler 1500 is attached to actuation cable 205 and includes two
legs 1538, 1540 extending distally therefrom. First and second legs
1538, 1540 define a space therebetween dimensioned to receive
proximal portions 1572, 1574 of first and second shearing blades
1262, 1264. Each leg 1538, 1540 defines a hole 1548, 1550 adapted
to receive a pin 1580. Pin 1580 is also configured to be slidably
received in cam slots 1442, 1444 of first and second shearing
blades 1262, 1264. Cam slot 1442 is defined along a proximal
portion 1572 of shearing blade 1262, whereas cam slot 1444 is
defined along a proximal portion 1574 of shearing blade 1264. A
disk made 1600 of electrically insulating material electrically
isolates shearing blades 1262, 1264 from each other. As seen in
FIG. 34, disk 1600 is positioned between first and second shearing
blades 1262, 1264 and defines a hole 1602 configured to receive pin
1580.
FIGS. 37 and 38 depict another embodiment of surgical device 100.
The structure and operation of this embodiment is substantially
similar to the embodiment shown in FIGS. 1-5. This embodiment of
surgical device 100 includes an end effector 2260 configured for
grasping tissue. End effector 2260 includes first and second
grasping forceps 2262, 2264 configured to grasp tissue. Although
the drawings of this embodiment show surgical device 100 without a
post 350 (FIG. 10A), this embodiment of surgical device 100 may
include a post 350 for electrically coupling end effector 2226 to a
generator. First and second grasping forceps 2262, 2264 are
configured to move between an open position and an approximated
position. Each of the first and second grasping forceps 2262, 2264
includes a tissue engaging surface 2266, 2268. Both tissue engaging
surfaces 2266, 2268 includes a plurality of teeth 2272, 2274 for
engaging tissue.
With reference to FIGS. 38 and 39, first and second grasping
forceps 2262, 2664 are pivotally connected to each other by pivot
pin 446. End effector 2260 is operatively coupled to actuation
cable 205 through coupling 436 and pin 440. Each of the first and
second grasping forceps 2262, 2264 includes cam slots 2442, 2444
adapted for slidably receiving pin 440. Such connection allows
first and second grasping forceps 2262, 2264 to move to the
approximated position upon a proximal motion of actuation cable
205.
Referring to FIGS. 40-43, any of the embodiments of surgical device
100 may include a locking mechanism 3000 for fixing the relative
position of first and second jaw members 262, 264. As discussed
above, movable thumb loop 301 is operatively coupled to first and
second jaw members 262, 264. In operation, pivoting movable thumb
loop 301 toward finger loop 301 causes first and second jaw members
262, 264 to move from the open position and the approximated
position. (See FIGS. 30 and 31). Thus, maintaining movable thumb
loop 301 close to finger loop 302 would keep first and second jaw
members 262, 264 in the approximated position. In use, locking
mechanism 3000 can maintain thumb loop 301 close to finger loop 302
to fix first and second jaw members 262, 264 in the approximated
position. In some embodiments, locking mechanism 3000 includes a
first ratchet assembly 3002 attached to the movable thumb loop 301.
Specifically, first ratchet assembly 3002 is attached to the
lateral wall of a portion of movable thumb loop located inside
handle assembly 300. First ratchet assembly 3002 includes a curved
column 3004 and a plurality of teeth 3006 extending proximally from
curved column 3004. Each tooth 3006 is angled upwardly relative to
movable thumb loop 301.
Locking mechanism 3000 further includes biasing member 3008, such
as a spring, secured to a portion of movable thumb loop 301 located
within handle assembly 300 and operatively coupled to a release
assembly 3010. Biasing member 3008 biases release assembly 3010 in
a distal direction. In the depicted embodiment, biasing member 3008
is a torsion spring. It is contemplated, however, that biasing
member 3008 may be any apparatus or means suitable for biasing
release assembly 3010 distally.
Release assembly 3010 includes a trigger 3012 adapted to receive a
finger, an elongate section 3014 extending proximally from trigger
3012, a second ratchet assembly 3016 configured to securely engage
first ratchet assembly 3002, and a guiding bar 3018 protruding from
a lower portion of elongate section 3014.
Guiding bar 3018 has camming surfaces 3020 and transverse pin 3022
disposed at a proximal end 3024 thereof. Camming surfaces 3020 are
configured to slidably engage projections 3026, 3028 of handle
assembly 300 (FIGS. 42 and 43) to guide the translation of release
assembly 3010 through handle assembly 300. Transverse pin 3022 is
configured to engage a mechanical stop 3030 disposed inside handle
assembly 300 to prevent, or at least inhibit, further proximal
advancement of release assembly 3010.
As discussed above, release assembly 3010 also includes a second
ratchet assembly 3016 configured to engage first ratchet assembly
3002. Second ratchet assembly 3016 includes a wall 3032 extending
proximally from elongate section 3014 and a curved column 3034
positioned along a proximal end 3038 of wall 3032. A plurality of
teeth 3036 protrude distally from at least a portion of curved
column 3034. Teeth 3036 are adapted to securely engage teeth 3006
of first ratchet assembly 3002. In some embodiments, teeth 3036 are
angled downwardly with respect to movable thumb loop 301. When
teeth 3036 of second ratchet assembly 3016 engage teeth 3006 of
first ratchet assembly 3002, the position of movable thumb loop 301
is fixed relative to finger loop 302. (See FIG. 42).
In operation, an operator can utilize locking mechanism 3000 to fix
the relative position of first and second jaw members 262, 264
(FIG. 31). Initially, the operator moves movable thumb loop 301
toward finger loop 302 to move first and second jaw members 262,
264 (FIG. 31) toward the approximated position. As movable thumb
loop 301 moves toward finger loop 302, teeth 3006 of first ratchet
assembly 3002 engage teeth 3036 of second ratchet assembly 3016.
The orientation of teeth 3006 and teeth 3036 precludes, or at least
hinders, movable thumb loop 301 from moving away from finger loop
302 while allowing movable thumb loop 301 to move further toward
finger loop 302. As a result, locking mechanism 3000 fixes the
position of movable thumb loop 301 relative to finger loop 302, as
shown in FIG. 42. Since movable thumb loop 301 is operatively
connected to first and second jaw members 262, 264 (FIG. 31), the
relative position of first and second jaw members 262, 264 is fixed
when locking mechanism 300 fixes the position of movable thumb loop
301 with respect to finger loop 302. Once locking mechanism 300 has
locked the position of movable thumb loop 301, the operator may
further advance movable thumb loop 301 toward finger loop 302 until
first and second jaw members 262, 264 (FIG. 31) reach the
approximated position.
To release movable thumb loop 301, the operator presses trigger
3012 proximally against the influence of biasing member 3008. When
trigger 3012 moves proximally, teeth 3036 of second ratchet
assembly 3016 move proximally and disengages teeth 3002 of first
ratchet assembly 3002. Consequently, movable thumb loop 301 moves
away from finger loop 302 under the influence of biasing member
3008, thereby moving first and second jaw members 262, 264 toward
the open position, as shown in FIG. 43. (See also FIG. 20).
FIGS. 44-46 show another embodiment of surgical device 100. The
operation and structure of this embodiment of surgical device 100
is substantially similar to the embodiments described above. In
this embodiment, surgical device 100 includes an end effector 4260
including an electrode assembly 4262. Electrode assembly 4262
includes at least one probe or electrode 4264 adapted to conduct
and apply electrosurgical energy to tissue. In the depicted
embodiment, electrode assembly 4262 has one probe 4264 having a
hook-like shape. Probe 4264, however, may have any suitable shape
or configuration. Regardless of its shape, probe 4264 is
electrically linked to actuation cable 205 of surgical device 100,
as shown in FIG. 46.
With continued reference to FIGS. 44-46, this embodiment of
surgical device 100 includes an electrical switch 4700 supported on
handle assembly 300. Electrical switch 4700 is configured to set
surgical device 100 to one of a number of modes of operation, such
as cutting, blending, and/or coagulating. More specifically,
electrical switch 4700 is adapted to vary the waveform and/or
amount of energy that is delivered from the source of
electrosurgical energy to electrode assembly 4262. In several
embodiments, electrical switch 4700 has two discrete positions. In
a first discrete position, electrical switch 4700 sets surgical
device 100 to transmit "a cutting waveform" output to electrode
assembly 4262 and, in a second discrete position, electrical switch
4700 sets surgical device 100 to transmit a "coagulating waveform"
output to electrode assembly 4262. It is envisioned that electrical
switch 4700 may also include some measure of tactile feedback
capable of being felt by the operator and/or some measure of
audible feedback produced by electrical switch 4700 (e.g., "click"
sound).
In addition to electrical switch 4700, surgical device 100 includes
an electrical interface or plug 4800 configured to be mechanically
and electrically connected to a source of electrosurgical energy
such as a generator. Plug 4800 includes a plurality of prongs 4802
adapted to mechanically and electrically coupled plug 4800 to a
source of electrosurgical energy. An electrical cable 4804
electrically links plug 4800 with handle assembly 300.
Referring to FIG. 47, this embodiment of surgical device 100
includes a stationary handle 4301 housing a portion of electrical
cable 4804. Electrical cable 4804 encompasses a plurality of
electrical wires 4806 configured to transmit electrosurgical energy
from a source of electrosurgical energy (not shown). Electrical
wires 4806 are electrically coupled to electrical switch 4700.
In the embodiment shown in FIG. 47, electrical switch 4700 includes
a button 4702 configured to move between a first position and a
second position and first and second transducers 4704, 4706. It is
contemplate that transducers 4704, 4706 may be pressure
transducers. Button 4702 includes first and second prongs 4708,
4710 extending downwardly toward first and second transducers 4704,
4706. When button 4702 is located in the neutral position, as shown
in FIG. 47, first and second prongs 4708, 4710 are not in contact
with first and second transducers 4704, 4706. Button 4702, however,
may be moved between first and second positions. In the first
position, first prong 4708 contacts and applies pressure to first
transducer 4704. In response, first transducer 4704 converts this
pressure into a signal that is transmitted to the electrosurgical
generator (not shown) via electrical wires 4806. In turn, the
electrosurgical generator transmits a corresponding amount of
electrosurgical energy (such as RF energy) or an appropriate
waveform output to electrode assembly 4262. As such, button 4702,
in combination with first and second transducers 4704, 4706 allow
the operator to control the amount of energy and/or waveform output
of the electrosurgical generator (not shown) electrically coupled
to surgical device 100. For example, when button 4702 is placed in
the first position, a "cutting-type" waveform is selected.
Conversely, when button 4702 is placed in the second position,
second prong 4710 contacts and applies pressure to second
transducer 4706. In turn, second transducer 4706 converts this
pressure into a signal that is transmitted to the electrosurgical
generator (not shown) via electrical wires 4806. In response to
this signal, electrosurgical generator transmits a "cutting-type"
waveform output to electrode assembly 4262. Accordingly, the
operator can select the therapeutic effect desired by simply moving
button 4702 between the first and second positions. It is
envisioned that surgical device 100 may be deactivated (i.e.,
de-energized) when button 470 is in the neutral position.
Handle assembly 300 further includes an electrical wire 4808
electrically linking electrical switch 4700 and inner rod 4205.
Inner rod 4205 is made of an electrically conductive material and
electrically couples electrode assembly 4262 with an
electrosurgical generator (not shown) connected to surgical device
100.
With continued reference to FIG. 47, this embodiment of surgical
device 100 also includes articulation mechanism 330 operatively
associated with articulating section 230 of endoscopic assembly
200. Articulating section 230 is configured to articulate towards a
particular direction with respect to elongate outer tube 210 upon
movement of handle assembly 300 toward the same direction with
respect to elongate outer tube 210, as seen in FIGS. 48 and 49.
Referring to FIGS. 50-51, any of the embodiments of surgical device
100 may include a straightening mechanism 5000 for returning
articulating section 230 (FIG. 2) into longitudinal alignment with
elongate outer tube 210 (FIG. 2) after articulation. Straightening
mechanism 5000 includes a first set of magnets 5002 attached to
ball 331 and a second set of magnets 5004 attached to cup 332. It
is envisioned that magnets 5002, 5004 may be rear earth magnets
5002. Magnets 5002, 5004 may be permanent magnets or
electromagnets. In the embodiments where magnets 5002, 5004 are
permanent magnets, magnets 5002, 5004 are oriented so that opposite
poles of magnets 5002, 5004 face each other, thus triggering
attraction forces. Magnets 5002 are disposed around the periphery
of ball 331, whereas magnets 5004 are positioned around an inner
surface of cup 331. (See FIG. 51). When articulating section 230 is
longitudinal aligned with elongate outer tube 210, magnets 5002 are
radially aligned with magnets 5004. The position and orientation of
magnets 5002 relative to magnets 5004 trigger attraction forces
between them. The attraction forces between magnets 5002, 5004
maintain cup 332 aligned with ball 331. As discussed above, when
ball 331 is aligned with cup 332, articulating section 230 is
longitudinal aligned with elongate outer tube 210. (See FIG. 2). If
cup 332 is moved relative to ball 331 to articulate articulating
section 230, the attraction forces of magnets 5002, 5002 draws ball
331 back into alignment with cup 332, as seen in FIG. 2. As seen in
FIG. 51, in some embodiments, ball 331 includes detents 5008
attached to each magnets 5002. In turn, cup 332 includes
concavities 5006 adapted to securely receive detents 5008. The
engagement between detents 5008 and concavities 5006 help secure
ball 331 in the neutral position.
With reference to FIG. 53, any of the embodiments of surgical
device 100 may include a straightening mechanism 6000 for returning
articulating section 230 (FIG. 2) into longitudinal alignment with
elongate outer tube 210 (FIG. 2) after articulation. Straightening
mechanism 6000 includes a conical helical spring 6002 positioned
within ball 331. Conical helical spring 6002 has a proximal end
6004 attached to cable holding section 460 and a distal end 6006
attached to actuation cable 205. When handle assembly 300 is
articulated relative to elongate outer tube 210 (FIG. 3), one side
of conical helical spring 6002 is in tension, while the other side
of conical helical spring 6002 is in compression, creating a moment
that urges handle assembly 300 back to its neutral position (see
FIG. 2). As discussed above, when handle assembly 300 is in its
neutral position, articulating section 230 is longitudinally
aligned with elongate outer tube 210. It is envisioned that conical
helical spring 6002 may be pre-tensioned to increase the
moment.
With reference to FIG. 54, any of the embodiments of surgical
device 100 may include a straightening mechanism 7000 for returning
articulating section 230 (FIG. 2) into longitudinal alignment with
elongate outer tube 210 (FIG. 2) after articulation. Straightening
mechanism 7000 includes a flexible boot 7002 covering ball 331. It
is contemplated that flexible boot 7002 may be made of an
elastomeric material or any other suitable material. Flexible boot
7002 has a proximal end portion 7004 attached to cup 332 and a
distal end portion 7006 attached to a portion of elongate outer
tube 210 located adjacent ball 331. In operation, when cup 332 is
moved relative to ball 331, one side of flexible boot 7002
stretches and is in tension, creating a moment that urges ball 331
back to its neutral position (see FIG. 2).
With reference to FIG. 55, any of the embodiments of surgical
device 100 may include a straightening mechanism 8000 for returning
articulating section 230 (FIG. 2) into longitudinal alignment with
elongate outer tube 210 (FIG. 2) after articulation. Straightening
mechanism 8000 includes a protruding member 8002 extending
proximally from ball 331 and an elastic member 8004 attached to a
proximal end 8006 of protruding member 8002. Elastic member 8004
has a distal end 8010 attached to protruding member 8002 and a
proximal end 8012 attached to articulation cable plate 311 (FIG.
21). A housing 8008 encloses protruding member 8002 and at least a
portion of elastic member 8004. In operation, when ball 331 is
moved relative to cup 332 (FIG. 21), elastic member 8004 stretches
(as shown in phantom). As a result, tension builds up on elastic
member 8004. This tension creates a restoring moment that biases
ball 331 toward the neutral position. (See FIG. 2).
With reference to FIG. 56, any of the embodiments of surgical
device 100 may include a straightening mechanism 9000 for returning
articulating section 230 (FIG. 2) into longitudinal alignment with
elongate outer tube 210 (FIG. 2) after articulation. Straightening
mechanism 9000 includes a tube or rod 9002 made of a material
exhibiting superelastic properties. It is envisioned that tube 9002
is substantially resilient. In some embodiments, tube 9002 is
wholly or partly made of a shape memory material such as Nitinol.
Tube 9002 has a proximal end 9004 and a distal end 9006. Proximal
end 9004 of rod 9002 is attached to proximal torque tube 456, while
distal end 9006 of rod 9002 is fixed to ball 331. When ball 331 is
articulated with respect to cup 332, tube 9002 articulates and
creates a moment that biases ball 331 towards its neutral position
(see FIG. 2). In some embodiments, tube 9002 corresponds to
proximal torque coil 468 shown in FIG. 24.
With reference to FIG. 57, any of the embodiments of surgical
device 100 may include a straightening mechanism 500 for returning
articulating section 230 (FIG. 2) into longitudinal alignment with
elongate outer tube 210 (FIG. 2) after articulation. In
straightening mechanism 500, ball 331 includes an elongate portion
502 extending proximally therefrom. When ball 331 is moved relative
to cup 332, elongate portion 502 spreads cup 332. As a consequence,
cup 332 exerts a force on elongate portion 502 and urges ball 331
to its neutral position (see FIG. 2).
With reference to FIG. 58, any of the embodiments of surgical
device 100 may include a straightening mechanism 600 for returning
articulating section 230 (FIG. 2) into longitudinal alignment with
elongate outer tube 210 (FIG. 2) after articulation. Straightening
mechanism 600 includes a plurality of elastic bands 602 configured
to bias ball 331 to a neutral position (see FIG. 2). Each elastic
band 602 has a proximal end 606 and a distal end 604. Proximal ends
606 of each elastic band 602 are attached to elongate portion 414
of articulation cable plate 311. Distal ends 604 of each elastic
band are attached to a distal portion of ball 331. During
operation, when ball 331 is moved relative to cup 332 (FIG. 21), at
least one elastic bands 602 stretches and biases ball 331 toward
its neutral position (see FIG. 2). It some embodiments,
straightening mechanism 600 includes three elastic bands 602, but
it is envisioned that straightening mechanism 600 may include more
or fewer elastic bands 602.
With reference to FIG. 59, any of the embodiments of surgical
device 100 may include a straightening mechanism 700 for returning
articulating section 230 (FIG. 2) into longitudinal alignment with
elongate outer tube 210 (FIG. 2) after articulation. Straightening
mechanism 700 includes an annular wall 702 extending radially and
inwardly from an inner surface of cup 332 and a ring 704 positioned
adjacent a proximal portion 708 of ball 331. Moreover,
straightening mechanism 700 includes a plurality of springs 706
located between annular wall 702 and ring 704. Springs 706 are
configured to bias ball 331 to its neutral position (see FIG. 2)
upon movement of ball 331 with respect to cup 332. In operation,
when ball 331 is moved relative to cup 332, some springs 706
compress, while other springs 706 stretch. The combined elongation
and compression of springs 706 urges ball 331 back to its neutral
position (see FIG. 2).
With reference to FIG. 60, any of the embodiments of surgical
device 100 may include a straightening mechanism 800 for returning
articulating section 230 (FIG. 2) into longitudinal alignment with
elongate outer tube 210 (FIG. 2) after articulation. Straightening
mechanism 800 includes a ring 804 positioned distally of cup 332
and around a portion of ball 331. Moreover, straightening mechanism
800 includes a plurality of springs 806 located between ring 804
and a distal end 802 of cup 332. Springs 806 are configured to bias
ball 331 to its neutral position (see FIG. 2) upon movement of ball
331 with respect to cup 332. In operation, when ball 331 is moved
relative to cup 332, some springs 806 compress, while other springs
806 stretch. The combined elongation and compression of springs 806
urges ball 331 back to its neutral position (see FIG. 2).
With reference to FIG. 61, any of the embodiments of surgical
device 100 may include a straightening mechanism 900 for returning
articulating section 230 (FIG. 2) into longitudinal alignment with
elongate outer tube 210 (FIG. 2) after articulation. Straightening
mechanism 900 includes an annular wall 902 extending radially and
inwardly from an inner surface of cup 332 and a ring 904 positioned
adjacent a proximal portion 908 of ball 331. Ring 904 defines an
annular slot 910 configured to slidably receive proximal portion
908 of ball 331. Moreover, straightening mechanism 900 includes a
plurality of springs 906 located between annular wall 902 and ring
904. Springs 906 are configured to bias ball 331 to its neutral
position (see FIG. 2) upon movement of ball 331 with respect to cup
332. In operation, when ball 331 is moved relative to cup 332,
springs 906 elongate, causing tension in springs 906. As a result
of the tension, springs 906 urges ball 331 back to its neutral
position (see FIG. 2).
It will be understood that various modifications may be made to the
embodiments of the presently disclosed surgical device. Therefore,
the above description should not be construed as limiting, but
merely as exemplifications of embodiments. Those skilled in the art
will envision other modifications within the scope and spirit of
the present disclosure.
* * * * *